| Volume 23 Issue 7/8- Publication Date: 1 July-August 2004 |
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| Decentralized Algorithms for
Multi-Robot Manipulation via Caging |
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| G.A.S. Pereira, M.F.M.
Campos, VERLab–Vision and Robotics Laboratory, DCC, Universidade
Federal de Minas Gerais, Belo Horizonte, MG 31270-010 Brazil and V.
Kumar GRASP Laboratory, University of Pennsylvania, Philadelphia,
PA 19104-6228, USA |
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| In this paper we address
the problem of transporting objects with multiple mobile robots using
the concept of "object closure". In contrast to other manipulation
techniques that are typically derived from form or force closure constraints,
object closure requires the less stringent condition that the object
be trapped or caged by the robots. Our basic goal in this paper is to
develop decentralized control policies for a group of robots to move
toward a goal position while maintaining a condition of object closure.
We present experimental results that show polygonal mobile robots controlled
using visual feedback, transporting a convex polygonal object in an
obstacle free environment toward a prescribed goal. |
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| Multimedia Key |
= Video |
 = Data |
= Code |
= Image |
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Extension |
Type |
Description |
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1 |
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Example
One: Test for object closure based on the object’s orientation
computed in real time. (2.8MB) |
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2 |
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Example
Two: Three robots switching modes to achieve object closure.
(2.8MB) |
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3 |
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Example
Three: Three robots caging a triangular object. (2.9MB) |
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4 |
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Example
Four: Close-up of the robots in the manipulation task. (3.3MB)
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5 |
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Example
Five: Four robots “shepherding” a circular holonomic
robot. The circular robot is running a simple obstacle avoidance
algorithm. (3.0MB) |
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